2 FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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68 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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69 The processor MUST be in supervisor mode when vTaskStartScheduler is
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70 called. The demo applications included in the FreeRTOS.org download switch
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71 to supervisor mode prior to main being called. If you are not using one of
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72 these demo application projects then ensure Supervisor mode is used.
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76 * Creates all the demo application tasks, then starts the scheduler. The WEB
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77 * documentation provides more details of the demo application tasks.
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79 * Main.c also creates a task called "Check". This only executes every three
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80 * seconds but has the highest priority so is guaranteed to get processor time.
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81 * Its main function is to check that all the other tasks are still operational.
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82 * Each task (other than the "flash" tasks) maintains a unique count that is
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83 * incremented each time the task successfully completes its function. Should
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84 * any error occur within such a task the count is permanently halted. The
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85 * check task inspects the count of each task to ensure it has changed since
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86 * the last time the check task executed. If all the count variables have
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87 * changed all the tasks are still executing error free, and the check task
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88 * toggles the onboard LED. Should any task contain an error at any time
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89 * the LED toggle rate will change from 3 seconds to 500ms.
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93 /* Library includes. */
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97 /* Scheduler includes. */
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98 #include "FreeRTOS.h"
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101 /* Demo application includes. */
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103 #include "integer.h"
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105 #include "BlockQ.h"
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106 #include "semtest.h"
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107 #include "dynamic.h"
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108 #include "partest.h"
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109 #include "comtest2.h"
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111 /* Priorities for the demo application tasks. */
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112 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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113 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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114 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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115 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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116 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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117 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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119 /* Constants required by the 'Check' task. */
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120 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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121 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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122 #define mainCHECK_TASK_LED ( 4 )
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124 /* Constants for the ComTest tasks. */
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125 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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126 #define mainCOM_TEST_LED ( 6 ) /* The LED built onto the kickstart board. */
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129 * The task that executes at the highest priority and calls
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130 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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133 static void vErrorChecks( void *pvParameters );
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136 * Configure the processor for use with the IAR STR71x demo board. This
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137 * just sets the PLL for the required frequency.
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139 static void prvSetupHardware( void );
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142 * Checks that all the demo application tasks are still executing without error
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143 * - as described at the top of the file. Called by vErrorChecks().
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145 static long prvCheckOtherTasksAreStillRunning( void );
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148 /*-----------------------------------------------------------*/
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151 * Starts all the other tasks, then starts the scheduler.
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155 /* Setup any hardware that has not already been configured by the low
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156 level init routines. */
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157 prvSetupHardware();
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159 /* Initialise the LED outputs for use by the demo application tasks. */
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160 vParTestInitialise();
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162 /* Start all the standard demo application tasks. */
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163 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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164 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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165 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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166 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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167 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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168 vStartDynamicPriorityTasks();
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169 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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171 /* Start the check task - which is defined in this file. */
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172 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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174 /* Start the scheduler.
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176 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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177 The processor MUST be in supervisor mode when vTaskStartScheduler is
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178 called. The demo applications included in the FreeRTOS.org download switch
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179 to supervisor mode prior to main being called. If you are not using one of
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180 these demo application projects then ensure Supervisor mode is used here. */
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182 vTaskStartScheduler();
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184 /* We should never get here as control is now taken by the scheduler. */
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187 /*-----------------------------------------------------------*/
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189 static void prvSetupHardware( void )
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191 /* Setup the PLL to generate a 48MHz clock from the 4MHz CLK. */
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193 /* Turn of the div by two. */
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194 RCCU_Div2Config( DISABLE );
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196 /* 48MHz = ( 4MHz * 12 ) / 1 */
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197 RCCU_PLL1Config( RCCU_PLL1_Mul_12, RCCU_Div_1 );
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198 RCCU_RCLKSourceConfig( RCCU_PLL1_Output );
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200 /*-----------------------------------------------------------*/
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202 static void vErrorChecks( void *pvParameters )
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204 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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205 portTickType xLastWakeTime;
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207 /* The parameters are not used in this task. */
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208 ( void ) pvParameters;
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210 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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211 functions correctly. */
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212 xLastWakeTime = xTaskGetTickCount();
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214 /* Cycle for ever, delaying then checking all the other tasks are still
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215 operating without error. If an error is detected then the delay period
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216 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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217 the on board LED flash rate will increase. */
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221 /* Delay until it is time to execute again. The delay period is
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222 shorter following an error so the LED flashes faster. */
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223 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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225 /* Check all the standard demo application tasks are executing without
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227 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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229 /* An error has been detected in one of the tasks - flash faster. */
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230 xDelayPeriod = mainERROR_FLASH_PERIOD;
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233 vParTestToggleLED( mainCHECK_TASK_LED );
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236 /*-----------------------------------------------------------*/
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238 static long prvCheckOtherTasksAreStillRunning( void )
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240 long lReturn = ( long ) pdPASS;
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242 /* Check all the demo tasks (other than the flash tasks) to ensure
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243 that they are all still running, and that none of them have detected
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246 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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248 lReturn = ( long ) pdFAIL;
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251 if( xArePollingQueuesStillRunning() != pdTRUE )
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253 lReturn = ( long ) pdFAIL;
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256 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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258 lReturn = ( long ) pdFAIL;
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261 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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263 lReturn = ( long ) pdFAIL;
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266 if( xAreComTestTasksStillRunning() != pdTRUE )
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268 lReturn = ( long ) pdFAIL;
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271 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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273 lReturn = ( long ) pdFAIL;
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278 /*-----------------------------------------------------------*/
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